Yaskawa G5 Electronic Line Shaft - Manual (Page 4)

Electronic Lineshaft with Registration
Date: 07/01/04, Rev: 04-07 Sheet 4 of 14 TM.G5SW.047
5. With no other adjustments, the follower motor’s shaft will track the master encoder’s position & velocity. If a different
ratio is desired, enter that ratio into parameters P1-02 and P1-03. Parameter P1-02 is the numerator and parameter
P1-03 is the denominator as shown in the following equation. The ratio between the master and follower must be
able to be exactly expressed in the following equation to avoid position drift. The MOP gear ratio function is multiplied
to the P1-02/P1-03 ratio to form to final follower gear ratio.
Motor Speed = P1-02 x Master Encoder Speed
(Position) P1-03 (Position)
6. Press MENU then DATA/ENTER to return to drive ready mode. If the SEQ and REF lights are not on, press the
LOCAL/REMOTE button to turn them on.
7. Command a forward run by closing terminal 1 to terminal 11 on the follower drive. The follower motor should remain
stationary as long as the master encoder remains stationary. Rotate the master and check parameter U1-53 –
Position Error. If everything is working properly, this parameter should show a reasonably low number (<20). It is
normal for this number to change very rapidly from positive to negative.
8. If the position error (U1-53) is too high, adjusting the speed regulator and the position regulator can help lower it by
improving the response. Response can be improved by first increasing the ASR gain (C5-01). Next, if more
responsiveness is required, increase parameter P1-04 and decrease parameter P1-05. All of these parameters will
interact with each other and with the motor/load so multiple adjustments may be necessary. Going too high with
parameters C5-01 and P1-04, or too low with parameter P1-05 will cause instability.
9. Assign digital inputs for advance / retard, M.O.P., and Ratio 2 as needed.
4.0 Custom Software Parameters
4.1 New Program Group
Group P
Elect Line Shaft
4.2 New Program Function
Function P1
Line Shaft Data
Function P2
Line Shaft Data
Function P3
Registration